The invention discloses a multi-train cooperative cruise control method and system based on a potential function. The method comprises the steps that real-time operation information of each train in a multi-train system is obtained; calculating distance deviation between each train and other trains; constructing a potential function between the two trains based on the actual tracking distance and the expected safety distance of the trains; calculating negative gradients of the potential functions of each train and other trains to obtain negative feedback of each train; and constructing a control variable of each train and acting on a traction braking system of the train to generate traction force or braking force, wherein the control variable at least comprises negative feedback of the train obtained based on the train potential function. In addition, the potential function is further optimized, and the potential function is designed to be an asymmetric adjustable potential function. According to the method, the artificial potential function is designed, the distance between the high-speed trains is controlled to be within the safe range, the distance between the trains is promoted to be dynamically adjusted according to the real-time running state of the trains, and the requirement for safe and efficient running of the trains is met.
本发明公开了一种基于势函数的多列车协同巡航控制方法及系统,该方法包括:获取多列车系统中每列列车的实时运行信息;计算每列列车与其他列车之间的距离偏差;构建基于列车的实际追踪距离以及期望安全距离的两列车之间的势函数;计算每列列车与其他列车的所述势函数的负梯度得到每列列车的负反馈;构建各列车的控制变量并作用于列车的牵引制动系统产生牵引力或制动力,该控制变量至少包含基于列车势函数得到的列车的负反馈。且本发明进一步优化势函数,设计为不对称可调势函数。本发明所述方法通过设计人工势函数,控制高速列车之间的距离处于安全范围内,促使列车间的距离将根据列车的实时运行状态进行动态调整,以满足列车安全高效运行的需求。
Multi-train cooperative cruise control method and system based on potential function
一种基于势函数的多列车协同巡航控制方法及系统
28.06.2022
Patent
Elektronische Ressource
Chinesisch
IPC: | B61L Leiten des Eisenbahnverkehrs , GUIDING RAILWAY TRAFFIC |
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